采煤机—液压支架相对位置融合校正系统关键技术研究

发布时间：2018-05-25 19:43

本文选题：采煤机 + 相对定位　；参考：《中国矿业大学》2015年硕士论文

【摘要】：综采工作面自动化是煤矿安全高效生产的重要保证,采煤机作为综采工作面的核心装备,其自动控制是实现综采工作面自动化和智能化的前提条件,而采煤机自动控制中的精确定位方法又是实现采煤机自动控制的核心内容。本文采用基于综采工作面惯性坐标系的采煤机惯性导航定位算法实现了采煤机的高速、精确、自主的定位,进而通过红外传感器、轴编码器以及惯性导航三种定位手段的融合,达到了采煤机定位准确可靠的要求,在此基础上利用校正策略消除了底板曲线形状产生的定位误差,使底板变得平整光滑,并且有效改善了推溜移架的条件。本文的主要研究内容和成果如下:1)研究了采煤机-液压支架相对位置融合校正系统的控制策略,建立了采煤机-液压支架相对位置融合校正系统的物理传感体系,设计了采煤机-液压支架相对位置融合校正系统的总体控制方案。2)建立了基于综采工作面惯性坐标系的采煤机惯性导航模型,分析了三种常见的采煤机姿态矩阵实时求解算法的性能和误差特性,建立了采煤机惯性导航定位算法和融合校正系统的融合模型。3)设计了采煤机-液压支架相对位置融合校正系统的数据存储策略,利用基于自体集层次聚类的否定选择算法进行了采煤机工作状态传感数据诊断,实现了失真传感数据识别。4)建立了采煤机-液压支架相对位置的校正模型,包括采煤机的刚体运动学模型和底板曲线的获取方法,研究了基于工作面惯性坐标系的采煤机截割过程中的位置姿态变化,通过实时动态校正策略实现了工作面底板曲线的修正。实验结果表明:采煤机-液压支架惯性导航定位算法能够克服底板曲线不平整带来的累积误差,累积定位误差减小至0.04m左右,定位相对偏差为0.4%;基于改进否定选择算法的传感数据异常诊断的平均识别率为95.2%,利用本文提出的校正策略对后滚筒截割高度进行实时控制后,采煤机底板的截割路径高度差由原来的0.0500米减小为0.0186米,优化率达62.8%,标准偏差由原来的0.0247米减小为0.0057米,优化率达76.9%,提高了底板曲线的平整度,显著减小了采煤机定位的累积误差。
[Abstract]:The automation of fully mechanized coal face is an important guarantee for the safe and efficient production of coal mine. As the core equipment of fully mechanized mining face, the automatic control is the precondition to realize the automation and intelligence of fully mechanized mining face. The accurate positioning method in automatic control of shearer is the core of automatic control of shearer. In this paper, the inertial navigation algorithm based on inertial coordinate system of fully mechanized coal mining face is used to realize the high-speed, accurate and autonomous positioning of the shearer, and then through the fusion of infrared sensor, shaft encoder and inertial navigation three kinds of positioning methods, such as infrared sensor, shaft encoder and inertial navigation, are adopted. On the basis of this, the positioning error caused by the curve shape of the bottom plate is eliminated, the bottom plate becomes smooth and smooth, and the condition of pushing and sliding frame is improved effectively. The main contents and achievements of this paper are as follows: (1) the control strategy of the relative position fusion correction system between shearer and hydraulic support is studied, and the physical sensing system of the relative position fusion correction system of shearer and hydraulic support is established. The overall control scheme of relative position fusion correction system of shearer and hydraulic support is designed. 2) the inertial navigation model of shearer based on inertial coordinate system of fully mechanized mining face is established. In this paper, the performance and error characteristics of three common real-time algorithms for calculating attitude matrix of shearer are analyzed. In this paper, the inertial navigation algorithm of shearer and the fusion model of fusion correction system. 3) the data storage strategy of relative position fusion correction system of shearer and hydraulic support is designed. The negative selection algorithm based on autologous set hierarchical clustering is used to diagnose the working state sensing data of shearer, and the distortion sensing data recognition. 4) the relative position correction model of shearer and hydraulic support is established. Including the rigid body kinematics model of shearer and the method of obtaining the curve of bottom plate, the change of position and attitude in the cutting process of shearer based on the working face inertial coordinate system is studied. The correction of the floor curve of the working face is realized by the real-time dynamic correction strategy. The experimental results show that the inertial navigation algorithm of the shearer and hydraulic support can overcome the accumulated error caused by the uneven curve of the bottom plate, and the cumulative positioning error is reduced to about 0.04m. The average recognition rate of abnormal diagnosis of sensor data based on the improved negative selection algorithm is 95.2. The correction strategy proposed in this paper is used to control the cutting height of the back drum in real time. The cutting path height difference of the shearer's bottom plate is reduced from 0.0500 meters to 0.0186 meters, the optimization rate is 62.8, the standard deviation is reduced from 0.0247 meters to 0.0057 meters, and the optimization rate is 76.9, which improves the flatness of the bottom plate curve. The cumulative error of shearer positioning is significantly reduced.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD421.6

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